User`s guide

6. The SPEL+ Language
To specify orientation for the 6-Axis robot, add a forward slash (/) followed by L (for
Lefty hand orientation) or R (Righty hand orientation), A (Above elbow orientation) or B
(Below elbow orientation), and NF (NoFlip wrist orientation) or F (Flip wrist orientation).
There are eight available orientations as shown below, however, the 6-Axis robot cannot
be operated in all of the orientations depending on point.
Available Orientation
1 /R /A /NF 5 /R /A /F
2 /L /A /NF 6 /L /A /F
3 /R /B /NF 7 /R /B /F
4 /L /B /NF 8 /L /B /F
At some points in the work envelope, the 6-Axis robot can have the same position and
orientation even if the fourth joint or the sixth joint are rotated 360 degrees. To distinguish
these points, the J4Flag and J6Flag point attributes are provided.
To specify the J4Flag, add a forward slash (/) followed by J4F0 (-180 < the forth joint
angle <= 180) or J4F1 (the forth joint angle <= -180 or 180 < the forth joint angle).
To specify the J6Flag, add a forward slash (/) followed by J6F0 (-180 < the sixth joint
angle <= 180), J6F1 (-360 < the sixth joint angle <= -180 or 180 <the sixth joint angle <=
360), or J6Fn (-180*(n+1) < the sixth joint angle <= 180*n or 180*n <the sixth joint angle
<= 180*(n+1)).
Singularity
The orientation in the boundary where the arm orientation switches to the other
Hand singularity : The boundary where Righty hand orientation and Lefty hand
orientation switch
Elbow singularity : The boundary where Above elbow orientation and Below elbow
orientation switch
Wrist singularity : The boundary where NoFlip wrist orientation and Flip wrist
orientation switch
Hand singularity Elbow singularity Wrist singularity
For the 6-axis robot, Hand / Wrist singularities exist also inside the motion range. When
jogging near the singularity, follow the directions below.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 169